flippableTank.c

#pragma config(Motor,  port1,           rightWheel1,   tmotorVex393_HBridge, openLoop)
#pragma config(Motor,  port2,           rightWheel2,   tmotorVex393_MC29, openLoop, reversed)
#pragma config(Motor,  port3,           rightWheel3,   tmotorVex393_MC29, openLoop, reversed)
#pragma config(Motor,  port4,           leftWheel2,    tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port5,           leftWheel3,    tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port10,          leftWheel1,    tmotorVex393_HBridge, openLoop)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

#pragma platform(VEX)

//Competition Control and Duration Settings 
#pragma competitionControl(Competition)

#include "Vex_Competition_Includes.c"   //Main competition background code...do not modify!

void pre_auton() {
  bStopTasksBetweenModes = true;

}

task autonomous() {
	
}

task usercontrol() {
  int flipper = 1;
  while (true) {
    
    //tank drive
    //left wheels
    if(abs(vexRT(Ch3))<10) {
      motor[leftWheel1] = 0;
      motor[leftWheel2] = 0;
      motor[leftWheel3] = 0;
    } else {
      motor[leftWheel1] = vexRT(Ch3)*flipper;
      motor[leftWheel2] = vexRT(Ch3)*flipper;
      motor[leftWheel3] = vexRT(Ch3)*flipper;
    }
    //left wheels
    if(abs(vexRT(Ch2))<10) {
      motor[rightWheel1] = 0;
      motor[rightWheel2] = 0;
      motor[rightWheel3] = 0;
    } else {
      motor[rightWheel1] = vexRT(Ch2)*flipper;
      motor[rightWheel2] = vexRT(Ch2)*flipper;
      motor[rightWheel3] = vexRT(Ch2)*flipper;
    }
    
    if(vexRT(7U)) {
      flipper*=-1;
      while(vexRT(7U)){}
    }
    
    //Anywhere from 25-50 Msec pause
    wait1Msec(30); 
  }
}